Velocity; Stopping Distance/Time - ABB IRB 6620 Product Specification

1.8.3 Velocity

Maximum axis speeds
Robot Type
IRB 6620-150/2.2
There is a supervision function to prevent overheating in applications with intensive
and frequent movements.
Axis Resolution
0.001° to 0.005°.

1.8.4 Stopping distance/time

Stopping distance/time for emergency stop (category 0), program stop (category 1)
and at mains power supply failure at max speed, max streched out and max load,
categories according to EN 60204-1. All results are from tests on one moving axis.
All stop distances are valid for floor mounted robot, without any tilting.
Robot Type
IRB 6620
A
B
3HAC 025861-001
Axis 1 Axis 2
100°/s 90°/s
Category 0
Axis A
1 24
2 16
3 11
Description
Distance in degrees
Stop time (s)
Rev.E
Axis 3 Axis 4
90°/s 150°/s
Category 1 Main power failure
B A B
0.5 44 0.8
0.4 40 0.9
0.2 20 0.4
1 Description
1.8.3 Velocity
Axis 5 Axis 6
120°/s 190°/s
A B
48 0.6
22 0.4
17 0.3
39